CN103411579B - Image extraction method in linear array APS sun sensor - Google Patents
Image extraction method in linear array APS sun sensor Download PDFInfo
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Abstract
The invention relates to a light spot image extraction method in a linear array APS (Auxiliary Propulsion System) sun sensor. Aiming at the characteristics of the linear array APS sun sensor and considering the interference of parasitic light, the influence of temperature to a device, secondary reflection of light in a cavity and other adverse effects, the method adopts dynamic gray thresholds, only grey scale values larger than the threshold part in a whole frame image are taken as extracted light spot data; meanwhile, effective images are provided to determine the thresholds which are taken as the criterion for distinguishing true and false light spots, and formed light spot images are screened; the light spot images are identified after being extracted, and unwanted images are picked by determining the positions of three straight slits and the sum of image grey scale values. According to the method, under the condition of high temperature, light spot images can be extracted quickly and effectively when the back noise of an image sensor is increased greatly; when secondary reflection exists on the surfaces of light slit glass and the sensor, even if false images appear in the images, true light spot data can still be identified, so that two-axis angle calculation in the later period can be accomplished conveniently.
Description
Technical field
The present invention relates to the image zooming-out in linear array APS sun sensor and recognition methods, belong to satellite and control subsystem optical attitude sensor technical field.
Background technology
Based on the sun sensor of APS imageing sensor, the sunlight lead that many employings have light slit or a unthreaded hole by ray cast on APS imageing sensor, according to the displacement of image centroid distance initial point, compute ray incident angle, be main carry out diaxon attitude angle based on the sun sensor of APS imageing sensor mainly with face battle array APS sun sensor, utilize linear array APS imageing sensor usually only can carry out single axis angular measurement, have no and utilize single linear array APS imageing sensor to carry out the report of diaxon measurement of angle, based on the image zooming-out of linear array APS imageing sensor and Study of recognition less, " N " type light slit of usual employing is under wide-angle, article three, light slit image is due to angular relationship only remaining two light slits, now being difficult to distinguish which bar is central vertical masonry joint, which bar is angled slots, for the identification of hot spot brings difficulty.
Summary of the invention
The object of the invention is to the above-mentioned deficiency overcoming prior art, image zooming-out in linear array APS sun sensor and recognition methods are provided, the method correctly can be extracted fast and identify vertical masonry joint and R-joining hot spot, conveniently complete the diaxon angle calculation in later stage, the method is easy to Project Realization and computing cost is little, meet high data updating rate, can adapt to severe applied environment, reliability is high.
Above-mentioned purpose of the present invention is mainly achieved by following technical solution:
Light spot image extracting method in linear array APS sun sensor, linear array APS sun sensor comprises light slit glass and linear array APS imageing sensor, wherein light spot image is become image by light slit glass by light on linear array APS imageing sensor, and specific implementation process is as follows:
Step (one), adjustment time shutter obtain light spot image
Complete the reading to pixel in linear array APS imageing sensor, pixel number gray-scale value being greater than to the gray-scale value G0 of setting is added up, be recorded as N, if meet N0<N<N1, obtain the whole two field picture under the time shutter, wherein N0 is the lower limit of setting, N1 is the higher limit of setting, N0, N1 are positive integer, and 2≤N0≤full gray-scale value, 2≤N1≤full gray-scale value;
The dynamical gray threshold value GV of step (two), calculating light spot image
First the average gray GV1 of light spot image in the whole two field picture that obtains of calculation procedure (); Then calculate the average gray of whole two field picture leading portion K pixel and common 2K the pixel of a back segment K pixel, average gray GV2 as a setting, wherein K is setting value, gets positive integer; Then determine that the interference of light spot image is as gray-scale value GV3, disturbs the 0%-10% getting full gray-scale value as gray-scale value GV3; Finally obtain the dynamical gray threshold value GV=GV1+GV2+GV3 of light spot image;
Step (three), utilize light spot image dynamical gray threshold value GV extract light spot image
Compared with the dynamical gray threshold value GV of light spot image one by one by the gray-scale value of pixel each in whole two field picture, the pixel that gray-scale value is greater than dynamical gray threshold value GV is the pixel of light spot image;
Step (four), the illusion rejected in light spot image
Be communicated with the number of pixel in statistics light spot image, setting threshold value M, when the connection pixel number of light spot image is less than M, then thinks that described light spot image is false picture, and do to reject process, wherein M is positive integer.
In light spot image extracting method in above-mentioned linear array APS sun sensor, in step (1) when N is less than the lower limit N0 of setting, prolonging exposure time, when N is greater than the higher limit N1 of setting, reduce the time shutter, until N meets N0<N<N1.
In light spot image extracting method in above-mentioned linear array APS sun sensor, light slit glass comprises five light slits, middle three is equally spaced vertical masonry joint, and respectively there is a R-joining on vertical masonry joint both sides, and after light spot image extracts, the recognition methods of vertical masonry joint hot spot and R-joining hot spot comprises the steps:
Step (one), calculate the center-of-mass coordinate of each light spot image, light spot image mass center coordinate is arranged according to ascending order;
Step (two), be vertical masonry joint hot spot or R-joining hot spot by the spacing identification hot spot of the center-of-mass coordinate of each light spot image, concrete grammar is as follows:
(1), by center-of-mass coordinate order from small to large, the spacing of first three light spot image mass center coordinate is compared, if spacing is equal, and barycenter number L is 4, then first three light spot image is vertical masonry joint light spot image, and the 4th light spot image is right R-joining light spot image, exists without left R-joining light spot image; If spacing is equal, and barycenter number L is 5, then first three light spot image is vertical masonry joint light spot image, and containing interference picture in image, the gray-scale value of fourth, fifth light spot image is sued for peace respectively, light spot image less for its neutralization number is rejected, and the larger light spot image of value is right R-joining light spot image; If the spacing of the center-of-mass coordinate of first three light spot image is unequal, then enter step (2);
(2), by center-of-mass coordinate order from small to large, relatively second and third, the spacing of four light spot image mass center coordinates, if spacing is equal, and barycenter number L is 4, then second and third, four light spot images are vertical masonry joint light spot image, first light spot image is left R-joining light spot image, exists without right R-joining light spot image; If spacing is equal, and barycenter number L is 5, then second and third, four light spot images are vertical masonry joint light spot image, and first light spot image is left R-joining light spot image, last light spot image is right R-joining light spot image, if second and third, the spacing of four light spot image mass center coordinates is unequal, then enter step (3);
(3) by center-of-mass coordinate order from small to large, relatively third and fourth, the spacing of five light spot image mass center coordinates, if spacing is equal, then third and fourth, five light spot images are vertical masonry joint light spot image, and containing interference picture in image, the gray-scale value of first and second light spot image is sued for peace respectively, light spot image less for its neutralization number is rejected, and the larger light spot image of value is left R-joining light spot image.
The present invention compared with prior art has following beneficial effect:
(1), the present invention is directed to the feature of linear array APS sun sensor, consider and may to there is light disturbance and temperature to the impact of device in actual application environment, in cavity light the harmful effect situation such as secondary reflection under, the innovative design extracting method of light spot image, adopt dynamic gray threshold, namely this threshold value can change with the change of ground unrest, gray-scale value is only had to be greater than this threshold portion in this two field picture, just as the hot spot data extracted, effective image decision threshold is proposed simultaneously, as the basis for estimation distinguishing true and false hot spot, formed light spot image is screened, make in the case of a high temperature, when imageing sensor ground unrest significantly increases, still effectively can extract light spot image fast,
(2), the present invention by being communicated with the number of pixel in statistics light spot image, and sets threshold value, when the connection pixel number of light spot image is less than threshold value, think that light spot image is false picture, do to reject process, thus distinguish true and false hot spot, complete the accurate screening of light spot image;
(3), the present invention is for correctly can distinguish central vertical masonry joint and angled slots, have employed five light slit “ in linear array APS sun sensor || | " structure, because the equidistant direct light seam of three on light slit glass occupy above the center of imageing sensor imaging viewing field, therefore under wide-angle, even if there is R-joining to shift out visual field, three vertical masonry joint light spot images are still in visual field, by judging that the centroid distance of each light slit gets final product accurate centre of location vertical masonry joint hot spot and angled slots hot spot, complete the identification of hot spot, substantially increase the accuracy of spot identification, even and if make linear array APS sun sensor under wide-angle, can correctly identify vertical masonry joint and R-joining hot spot fast, conveniently complete the diaxon angle calculation in later stage,
(4), the present invention is directed to the feature of linear array APS sun sensor, after light spot image extracts, light spot image is identified, exist interference as time, also by the size of the position and image intensity value sum of determining three vertical masonry joints to reject interference picture, namely when secondary reflection occurs for light slit glass and sensor surface, even if in image, appearance is false " as ", still can identify real hot spot data, substantially increase the accuracy of spot identification;
(5), light spot image of the present invention extracts and recognition methods is simple, be easy to Project Realization, and computing cost is little, meet high data updating rate, severe applied environment can be adapted to, reliability is high, and the linear array APS sun sensor of application the method obtains validating in orbit.
Accompanying drawing explanation
Fig. 1 is five light slit structural representations of light slit glass in linear array APS sun sensor of the present invention;
Fig. 2 is that linear array APS sun sensor light spot image of the present invention extracts and light slit identification process figure.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail:
Be illustrated in figure 1 five light slit structure intentions of light slit glass in linear array APS sun sensor of the present invention, " N " shape five light slit linear array APS sun sensor comprises light slit glass and linear array APS imageing sensor, light slit glass comprises five light slits, middle three is equally spaced vertical masonry joint, and respectively there is a R-joining on vertical masonry joint both sides.As shown in Figure 1,1 vertical lap seam S0 of middle and outermost two inclination light slits S1, S2 distribute in " N " shape of capitalizing, and the angle between the vertical lap seam S0 of two inclination light slit S1, S2 and centre is that the orientation of γ, S0 and APS photosensitive unit is orthogonal.Two auxiliary light slit S01, S02 in parallel are equidistantly furnished with, for the identification of middle light slit S0 in the light slit S0 both sides of middle.
The present invention extracts for the light spot image of " N " shape five light slit linear array APS sun sensor shown in Fig. 1 and recognition methods is described in detail:
The extracting method of light spot image is specific as follows:
Step (one), adjustment time shutter obtain light spot image
First the reading to pixel in linear array APS imageing sensor is completed, pixel number gray-scale value being greater than to the gray-scale value G0 of setting is added up, recording this number is N, if think when meeting the scope of N0<N<N1 and seen the sun, and the time shutter meets the demand of successive image process, obtain the whole two field picture under the time shutter; Wherein N0 is the lower limit of setting, and N1 is the higher limit of setting, and N0, N1 are positive integer, and 2≤N0≤full gray-scale value, 2≤N1≤full gray-scale value;
When N is less than the lower limit N0 of setting, prolonging exposure time, when N is greater than the higher limit N1 of setting, reduces the time shutter, until N meets N0<N<N1.When the time shutter is adjusted to the longest, N does not reach N0 yet, then think that the sun does not enter visual field; Be adjusted to when N the most in short-term is still greater than N1 in the time shutter and then think that now light intensity is too strong.
The dynamical gray threshold value GV of step (two), calculating light spot image
Dynamical gray threshold value forms GV1, GV2 and GV3 by three partial parameters.
First average gray analysis is carried out to the whole two field picture that step () obtains, calculate the average gray GV1 of light spot image in whole two field picture.
Then calculate the average gray of whole two field picture leading portion K pixel and common 2K the pixel of a back segment K pixel, average gray GV2 as a setting, wherein K is setting value, gets positive integer; Such as, in the present embodiment, linear array APS is the imageing sensor of 1 × 2048 array, and 50 pixels are respectively got in front and back, calculate these 100 pixels average gray average gray value GV2 as a setting.
Then determine that the interference of light spot image is as gray-scale value GV3, disturbs the 0%-10% getting full gray-scale value as gray-scale value GV3.The general energy size according to interference picture of choosing of side-play amount GV3 is determined, the 0%-10% of desirable full gray-scale value 255, select 5% in the present embodiment, namely 0x0c is as side-play amount.
Finally obtain the dynamical gray threshold value GV of light spot image; Dynamical gray threshold value GV is three partial parameters sum, i.e. GV=GV1+GV2+GV3.Be used for next frame image procossing with this dynamical gray threshold value GV, extract light spot image.
Step (three), utilize light spot image dynamical gray threshold value GV extract light spot image
The gray-scale value of each pixel in current whole two field picture is obtained with the dynamical gray threshold value GV(step 2 of previous frame image light spot image one by one) compare, the pixel that gray-scale value is greater than dynamical gray threshold value GV is the pixel of light spot image.
Step (four), the illusion rejected in light spot image
Illusion generation produces secondary reflection primarily of APS image sensor surface light slit glass and light slit lower glass surface and causes.Its feature is that the serious picture of energy is little, reacts for peak figure is narrower and peak height is lower on image, and peak value is less than 1/4th of true picture peak value, and the size of its energy depends primarily on the design and craft of light slit coating film on glass.After utilizing dynamical gray threshold value to extract light spot image, in statistics light spot image, be communicated with the number of pixel, setting threshold value M, when the connection pixel number of light spot image is less than M, then think described light spot image be false " as ", do to reject process, no longer participate in carrying out centroid calculation.Wherein threshold value M is effective image decision threshold, gets positive integer.
Usual M chooses wide with the seam of light slit glass relevant with pixel dimension size, and the upper limit of M is
lower limit is 1, M value between the upper limit and lower limit usually.In the present embodiment, APS sun sensor pixel size is 7um, and light slit glass stitches wide 70um, and namely light slit is wide is 10 pixel sizes, and effective image decision threshold M gets 5.
The extracting method of above-mentioned light spot image has versatility, is not only applicable to the present embodiment " N " shape five light slit linear array APS sun sensor, is applicable to the image zooming-out of any linear array APS imageing sensor.
The identification of vertical masonry joint and R-joining hot spot and abnormality processing in the present embodiment " N " shape five light slit linear array APS sun sensor, comprise following concrete steps:
Due to when carrying out diaxon angle calculation, need the center-of-mass coordinate of arbitrary R-joining in clear and definite center vertical masonry joint and two R-joinings, therefore need the identification carrying out vertical masonry joint and R-joining image, concrete grammar is as follows:
Step (one), according to above-mentioned hot spot extraction step extract hot spot, it is 5 light spot images that the number of spots upper limit is extracted in setting, and calculate the center-of-mass coordinate of each hot spot, light spot image mass center coordinate provides according to ascending order, corresponding light slit be arranged as vertical masonry joint in left R-joining, three, right R-joining.Due under high angle scattered light irradiation, edge R-joining hot spot likely shifts out the sensitive range of linear array APS imageing sensor, there will be the situation that barycenter number is less than 5, in the present embodiment field range (± 70 ° × ± 70 °), have the sensitive range that a R-joining shifts out sensor at the most.
The structure of step (two), light slit glass as shown in Figure 1, can according to three adjacent light slit centroid distances as basis for estimation, when the distance of left barycenter S01 and center barycenter S0 equals the distance of center barycenter S0 and right barycenter S02, then these three adjacent light slits are three vertical masonry joints, assert that this center barycenter S0 is the barycenter of central vertical masonry joint.
Step (three), first foundation step (two) judge whether the light slit that first three light spot image (first, second and third light spot image) is corresponding is vertical masonry joint, namely whether the spacing of first three light spot image mass center coordinate is equal, if spacing is equal is vertical masonry joint, namely first three light spot image is vertical masonry joint light spot image, vertical masonry joint light spot image centered by a middle light spot image.Judge that barycenter number L:L is 4, then Article 4 light slit is right R-joining, and namely the 4th light spot image is right R-joining light spot image, exists without left R-joining.L is 5, then in image containing interference picture, the gray-scale value of two, the right (fourth, fifth) light spot image is sued for peace respectively, light spot image less for its neutralization number is rejected, and the larger light spot image of value is right R-joining light spot image; L is other values, then put sensor operation irregularity mark.
If the light slit that first three light spot image is corresponding is not vertical masonry joint, enter step (four).
Step (four), to judge according to step (two) in the middle of the light slit of three light spot images (second and third, four) correspondence whether be vertical masonry joint, namely compare second and third, whether the spacing of four light spot image mass center coordinates is equal, if spacing is equal is vertical masonry joint, namely second and third, four light spot images are vertical masonry joint light spot image, vertical masonry joint light spot image centered by a middle light spot image.Judge that barycenter number L:L is 4, then Article 1 seam is left R-joining, and namely first light spot image is left R-joining light spot image, exists without right R-joining; L is 5, then Article 1 seam is left R-joining, and the last item light slit is right R-joining, and namely first light spot image is left R-joining light spot image, and last light spot image is right R-joining light spot image.L is other values, then put sensor operation irregularity mark.
If second and third, the light slit that four light spot images are corresponding is not vertical masonry joint, enters step (five).
Step (five), now barycenter number L are 5, whether the light slit judging right three light spot images (third and fourth, five) correspondence according to step (two) is vertical masonry joint, namely compare third and fourth, whether the spacing of five light spot image mass center coordinates is equal, if spacing is equal is vertical masonry joint, namely third and fourth, five light spot images are vertical masonry joint light spot image, vertical masonry joint light spot image centered by a middle light spot image; And containing interference picture in image, the gray-scale value of first and second light spot image is sued for peace respectively, light spot image less for its neutralization number is rejected, and the larger light spot image of value is left R-joining light spot image.
If step is so far without vertical masonry joint, then put sensor operation irregularity mark.
The center-of-mass coordinate identifying central vertical masonry joint S0 and two R-joining S1, S2 can carry out angle calculation, when the calculating of this two field picture is complete or sensor exists abnormal operation, then repeat above-mentioned light spot image to extract and identification step, carry out extraction and the identification work of a new frame image data.
In linear array APS sun sensor, for calculating the sun attitude angle of diaxon, effective sun speck data need be extracted, because light disturbance and the temperature secondary reflection on light in the impact of device, cavity may be there is in actual application environment, these all create bad impact to the extraction of image, and such as veiling glare or temperature affect the ground unrest brought easily makes the extraction of hot spot lose efficacy; The secondary reflection of hot spot, meeting generation vacation around real light spot image " as ", the mistake identification of hot spot can be caused.The above-mentioned light spot image based on " N " shape five light slit linear array APS sun sensor of the present invention extracts and recognition methods effectively solves the problems referred to above, lays the foundation for follow-up diaxon sun attitude angle calculates.
The above; be only the embodiment of the best of the present invention, but protection scope of the present invention is not limited thereto, is anyly familiar with those skilled in the art in the technical scope that the present invention discloses; the change that can expect easily or replacement, all should be encompassed within protection scope of the present invention.
The content be not described in detail in instructions of the present invention belongs to the known technology of professional and technical personnel in the field.
Claims (2)
1. the light spot image extracting method in linear array APS sun sensor, described linear array APS sun sensor comprises light slit glass and linear array APS imageing sensor, wherein light spot image is become image by light slit glass by light on linear array APS imageing sensor, it is characterized in that: specific implementation process is as follows:
Step (one), adjustment time shutter obtain light spot image
Complete the reading to pixel in linear array APS imageing sensor, pixel number gray-scale value being greater than to the gray-scale value G0 of setting is added up, be recorded as N, if meet N0<N<N1, obtain the whole two field picture under the time shutter, wherein N0 is the lower limit of setting, N1 is the higher limit of setting, N0, N1 are positive integer, and 2≤N0≤full gray-scale value, 2≤N1≤full gray-scale value;
When N is less than the lower limit N0 of setting, prolonging exposure time, when N is greater than the higher limit N1 of setting, reduces the time shutter, until N meets N0<N<N1;
The dynamical gray threshold value GV of step (two), calculating light spot image
First the average gray GV1 of light spot image in the whole two field picture that obtains of calculation procedure (); Then calculate the average gray of whole two field picture leading portion K pixel and common 2K the pixel of a back segment K pixel, average gray GV2 as a setting, wherein K is setting value, gets positive integer; Then determine that the interference of light spot image is as gray-scale value GV3, disturbs the 0%-10% getting full gray-scale value as gray-scale value GV3; Finally obtain the dynamical gray threshold value GV=GV1+GV2+GV3 of light spot image;
Step (three), utilize light spot image dynamical gray threshold value GV extract light spot image
Compared with the dynamical gray threshold value GV of light spot image one by one by the gray-scale value of pixel each in whole two field picture, the pixel that gray-scale value is greater than dynamical gray threshold value GV is the pixel of light spot image;
Step (four), the illusion rejected in light spot image
Be communicated with the number of pixel in statistics light spot image, setting threshold value M, when the connection pixel number of light spot image is less than M, then thinks that described light spot image is false picture, and do to reject process, wherein M is positive integer.
2. the light spot image extracting method in linear array APS sun sensor according to claim 1, it is characterized in that: described light slit glass comprises five light slits, middle three is equally spaced vertical masonry joint, respectively there is a R-joining on vertical masonry joint both sides, and after light spot image extracts, the recognition methods of vertical masonry joint hot spot and R-joining hot spot comprises the steps:
Step (one), calculate the center-of-mass coordinate of each light spot image, light spot image mass center coordinate is arranged according to ascending order;
Step (two), be vertical masonry joint hot spot or R-joining hot spot by the spacing identification hot spot of the center-of-mass coordinate of each light spot image, concrete grammar is as follows:
(1), by center-of-mass coordinate order from small to large, the spacing of first three light spot image mass center coordinate is compared, if spacing is equal, and barycenter number L is 4, then first three light spot image is vertical masonry joint light spot image, and the 4th light spot image is right R-joining light spot image, exists without left R-joining light spot image; If spacing is equal, and barycenter number L is 5, then first three light spot image is vertical masonry joint light spot image, and containing interference picture in image, the gray-scale value of fourth, fifth light spot image is sued for peace respectively, light spot image less for its neutralization number is rejected, and the larger light spot image of value is right R-joining light spot image; If the spacing of the center-of-mass coordinate of first three light spot image is unequal, then enter step (2);
(2), by center-of-mass coordinate order from small to large, relatively second and third, the spacing of four light spot image mass center coordinates, if spacing is equal, and barycenter number L is 4, then second and third, four light spot images are vertical masonry joint light spot image, first light spot image is left R-joining light spot image, exists without right R-joining light spot image; If spacing is equal, and barycenter number L is 5, then second and third, four light spot images are vertical masonry joint light spot image, and first light spot image is left R-joining light spot image, last light spot image is right R-joining light spot image, if second and third, the spacing of four light spot image mass center coordinates is unequal, then enter step (3);
(3) by center-of-mass coordinate order from small to large, relatively third and fourth, the spacing of five light spot image mass center coordinates, if spacing is equal, then third and fourth, five light spot images are vertical masonry joint light spot image, and containing interference picture in image, the gray-scale value of first and second light spot image is sued for peace respectively, light spot image less for its neutralization number is rejected, and the larger light spot image of value is left R-joining light spot image.
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